The invention discloses an ALB sounding
point cloud filtering and recovering method for complex terrains such as a
submarine abrupt slope, belongs to the technical field of
data processing, and solves the problems that the I-class misjudgment rate is high, topographic features are smoothed or weakened and effective point clouds at the
submarine abrupt slope are easily filtered out excessively in an existing method. The method comprises the steps of performing sea surface elevation
estimation and separation
processing on original
point cloud,
processing underwater point cloud based on a self-adaptive morphology
water body filtering method, introducing a
recovery mechanism based on
hyperboloid fitting, recovering abrupt slope area point cloud misjudged as a
water body noisy point through residual analysis, and obtaining a
water body noisy point. According to the method, a fine
processing strategy of filtering first and then recovering is adopted, and water body noisy points are accurately removed through self-adaptive
morphological filtering in the earlier stage in combination with
grid reference surface and spatial multi-dimensional
binary tree index neighborhood analysis. A
recovery mechanism based on
hyperboloid fitting is introduced, and the abrupt slope area point cloud misjudged as the noisy point is recovered through residual analysis. And the misjudgment rate in a
submarine abrupt slope area is effectively reduced.